/*
* This method must be called every loop cycle in order to make
* the servo on top of which the sensors are located turn left and right.
* As in the case of other peripherals, we make the call each loop
* instead of waiting for it because we still want that other peripherals
* get the CPU as well.. Sharing is caring!
*/
void SensorController::process()
{
if (_freeMove)
{
if (millis() - _startTime > _myServoTurnDelay)
{
_startTime = millis();
if (_myServoPosition > ZERO_POSITION + ROTATION_ANGLE)
{
_myServoDirection = -1;
}
if (_myServoPosition < ZERO_POSITION - ROTATION_ANGLE)
{
_myServoDirection = 1;
}
_myServoPosition += _myServoDirection;
setServoPosition(_myServoPosition);
}
}
_myServo.write(_myServoPosition);
getSharpSensor1RawData();
getSharpSensor2RawData();
getSharpSensor3RawData();
}
int main() {
// Handle Ctrl-C quit
signal(SIGINT, sig_handler);
// Edison i2c bus is 6
mraa::I2c *i2c = new mraa::I2c(6);
assert(i2c != NULL);
initPWM(i2c);
while (running) {
// Alternate two locations with 2-sec delay
setServoPosition(i2c, 0, 0.2);
sleep(2.0);
setServoPosition(i2c, 0, 0.8);
sleep(2.0);
}
}
// sets the servo to a value given by a message read from the bus
void HardwareControl::setAngle(int angle)
{
engageServo(1);
setServoPosition(angle+calibrationOffset);
/*if(MASTER) {
Serial.print("next angle: ");
Serial.print(angle);
Serial.print("-->");
Serial.println(servoPosition);
}*/
}
int main(void) {
initServoControl();
//setServoPosition(SERVO_LEFT);
//setServoPosition(SERVO_MID);
setServoPosition(SERVO_RIGHT);
for (;;) {
_delay_ms(100);
}
return 0;
}
void everyMinute(void) {
minutes++;
if (minutes > 59) {
minutes = 0;
everyHour();
}
// If during business hours, set servo to new minute
// Otherwise, don't need to move moter when laser is off
if ((hours >= START_TIME) && (hours < STOP_TIME)) {
setServoPosition();
enableServo();
LASER_PORT |= (1 << LASER); /* make sure laser is on */
}
else {
LASER_PORT &= ~(1 << LASER); /* make sure laser is off */
}
}
